@inbook {Williams2000,
	title = {{Autonomous underwater simultaneous localisation and map building}},
	booktitle = {Proceedings: 2000 IEEE International Conference on Robotics and Automation April 24-28, 2000, San Francisco Hilton Hotel, San Francisco, California},
	volume = {2},
	year = {2000},
	pages = {1793{\textendash}1798},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Piscataway, N.J.},
	isbn = {0-7803-5886-4},
	doi = {10.1109/ROBOT.2000.844855},
	url = {http://dx.doi.org/10.1109/ROBOT.2000.844855},
	author = {Williams, S and Newman, B and Dissanayake, P and Gamini, D W}
}
